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Optimal scheduling for refueling multiple autonomous aerial vehicles

Jin, Zhipu and Shima, Tal and Schumacher, Corey J. (2006) Optimal scheduling for refueling multiple autonomous aerial vehicles. IEEE Transactions on Robotics, 22 (4). pp. 682-693. ISSN 1552-3098.

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The scheduling, for autonomous refueling, of multiple unmanned aerial vehicles (UAVs) is posed as a combinatorial optimization problem. An efficient dynamic programming (DP) algorithm is introduced for finding the optimal initial refueling sequence. The optimal sequence needs to be recalculated when conditions change, such as when UAVs join or leave the queue unexpectedly. We develop a systematic shuffle scheme to reconfigure the UAV sequence using the least amount of shuffle steps. A similarity metric over UAV sequences is introduced to quantify the reconfiguration effort which is treated as an additional cost and is integrated into the DP algorithm. Feasibility and limitations of this novel approach are also discussed.

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Additional Information:© Copyright 2006 IEEE. Reprinted with permission. Manuscript received December 5, 2005; revised April 24, 2006. [Posted online: 2006-08-07] This paper was recommended for publication by Associate Editor D. Sun and Editor L. Parker upon evaluation of the reviewers’ comments. The work of Z. Jin was supported by the Control Science Center of Excellence, Air Force Research Labs, Wright-Patterson AFB. This work was performed while T. Shima held a National Research Council Research Associateship award at the Control Science Center of Excellence, Air Force Research Labs, Wright-Patterson AFB. This paper was presented in part at the American Control Conference, 2006. The authors would like to thank Prof. K. M. Passino from The Ohio State University and Prof. R. M. Murray from the California Institute of Technology, Pasadena, for helpful discussions.
Subject Keywords:Aerial vehicles, autonomous refueling, dynamic programming (DP), formation reconfiguration, scheduling
Issue or Number:4
Record Number:CaltechAUTHORS:JINieeetr06
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:4596
Deposited By: Archive Administrator
Deposited On:29 Aug 2006
Last Modified:02 Oct 2019 23:14

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